Medical pin removal tool

ABSTRACT

A cylindrical shaft may be gripped with an apparatus including a housing having an axis and an inner surface with multiple asymmetric cam surfaces, a proximal end including a means to rotate the housing, and a distal end having an opening configured to receive the cylindrical shaft, at least two cylindrical gripping members configured to grip the cylindrical shaft, where each cylindrical gripping member contacts a corresponding asymmetric cam surface at a first rest position, and a rotatable frame which holds each pair of cylindrical gripping members at a fixed angular orientation relative to each other. The rotatable frame is configured to rotate upon insertion of the cylindrical shaft into a space defined by the gripping members so that each gripping member moves away from the axis of the housing along a first portion of the corresponding asymmetric cam surface. After insertion of the cylindrical shaft, the housing is configured to rotate so as to cause each gripping member to move toward the axis of the housing along the corresponding asymmetric cam surface.

CROSS-REFERENCE TO RELATED APPLICATIONS

This is a Division of U.S. patent application Ser. No. 16/793,725, filedFeb. 18, 2020. The entire disclosure of the prior application isincorporated by reference herein in its entirety.

TECHNICAL FIELD

Various embodiments disclosed herein relate generally to an apparatusfor gripping and removing a cylindrical shaft. The cylindrical shaft maybe, for example, a drill bit or a surgical pin.

BACKGROUND

When bones are broken or damaged, external fixation of the bones withSchantz pins may be required. Such pins may have a threaded distal endwhich may be screwed into a bone, and a proximal end with flat edgesurfaces which may be used to grip the pin during insertion.

When surgeons use Schanz pins with ring fixator systems, the Schanz pinsare often cut to make the frames more comfortable for the patients. Thishas the unfortunate consequence of removing the flats on the Schanz pinsthat can aid in removal after treatment. One method to remove a Schanzpin is with a three-jaw T-handle chuck. Such three-jaw chucks are ableto grip a pin or screw having a smooth shaft, but the surgeon typicallycannot tighten the handle sufficiently, allowing the wrench to slipunder the removal torque.

SUMMARY

In view of the difficulties with removing surgical pins and screws,including Schanz pins, there is a present need for tools for removingsuch pins. A brief summary of various exemplary embodiments of suchtools is presented herein. Some simplifications and omissions may bemade in the following summary, which is intended to highlight andintroduce some aspects of the various exemplary embodiments, but not tolimit the scope of the invention. Detailed descriptions of a preferredexemplary embodiment adequate to allow those of ordinary skill in theart to make and use the inventive concepts will follow in latersections.

Various embodiments disclosed herein relate to an apparatus for grippinga cylindrical shaft, including:

-   -   a housing having an axis and an inner surface with multiple        asymmetric cam surfaces, a proximal end comprising a means to        rotate the housing, and a distal end having an opening        configured to receive the cylindrical shaft,    -   at least two cylindrical gripping members configured to grip the        cylindrical shaft, where each cylindrical gripping member        contacts a corresponding asymmetric cam surface at a first rest        position; and    -   a rotatable frame which holds each pair of cylindrical gripping        members at a fixed angular orientation relative to each other.

In various embodiments, the rotatable frame is configured to rotatewithin a cylindrical opening in a distal end of the inner surface of thehousing. Upon insertion of the cylindrical shaft into a space defined bythe gripping members, each gripping member moves radially away from theaxis of the housing along a first portion of the correspondingasymmetric cam surface. After insertion of the cylindrical shaft, thehousing is configured to rotate so as to cause each gripping member tomove toward the axis of the housing along the first portion of thecorresponding asymmetric cam surface, thereby gripping the cylindricalshaft. A torsion spring within the rotatable frame has an end which mayengage a lobe in the cylindrical opening in the housing so as to biasthe rotatable frame into a first position where each cylindricalgripping member contacts the corresponding asymmetric cam surface at thefirst rest position. Rotation of the rotatable frame relative to thehousing disengages the torsion spring from the lobe in the housing.

In various embodiments, each cylindrical gripping member mayindependently be a spherical gripping member, a right cylindricalgripping member having planar ends, or a cylindrical gripping memberhaving non-planar ends. Thus, for example, a cylindrical gripping membermay be used in combination with cylindrical gripping members, with thevarious gripping members being angularly spaced from each other.

In various embodiments, each cylindrical gripping member has a firstgripping member and a second gripping member, where the second grippingmember is coaxial with the first gripping member. Each first grippingmember and each second gripping member may be independently selectedfrom the group consisting of a spherical gripping member, a rightcylindrical gripping member having planar ends, and a cylindricalgripping member having non-planar ends. Each first gripping member maybe a spherical gripping member, and each second gripping member may be acylindrical gripping member having planar or non-planar ends. Acylindrical gripping member having non-planar ends may havefrustoconical ends, dome shaped ends, or a combination thereof.

In various embodiments, the cylindrical gripping members are configuredto grip a cylindrical shaft. Each cylindrical gripping member is made ofa material which is harder than the cylindrical shaft, where thematerial may be silicon nitride, zirconium oxide, silicon carbide, orstainless steel.

The housing has an axis and an inner surface with multiple asymmetriccam surfaces, each pair of adjacent asymmetric cam surfaces beingconnected by a substantially planar surface. A first portion of eachasymmetric cam surface has a first curvature, and a second portion ofeach asymmetric cam surface has a second curvature which is greater thanthe first curvature.

A proximal end of the housing has a means to rotate the housing, whichmay be a handle. Alternatively, the means to rotate the housing is asemi-cylindrical shaft configured to engage a handle with asemi-cylindrical bore, the semi-cylindrical shaft having a planarsurface and a round surface with a groove therein, the groove beingconfigured to engage a ball bearing mounted in the semi-cylindricalbore. The means to rotate the housing may also be a hexagonal shaftconfigured to engage a handle with a hexagonal bore, the hexagonal shafthaving a groove therein, the groove being configured to engage a ballbearing mounted in the hexagonal bore.

In various embodiments, the current disclosure is directed to a methodfor removing a cylindrical shaft from a material using an apparatus forgripping a cylindrical shaft as disclosed herein. The method includes:

-   -   inserting a cylindrical shaft into an opening at the distal end        of a housing having multiple asymmetric cam surface and multiple        cylindrical gripping members, where each cylindrical gripping        member contacts a corresponding asymmetric cam surface at a        first rest position;    -   pushing the cylindrical shaft into a space defined by the        cylindrical gripping members so as to cause each gripping member        to move away from the axis of the housing along a first portion        of the corresponding asymmetric cam surface, thereby expanding        the space defined by the cylindrical gripping members until it        accepts the cylindrical shaft; and, after insertion of the        cylindrical shaft,    -   rotating the housing relative to the rotatable frame so as to        cause each gripping member to move toward the axis of the        housing along the corresponding asymmetric cam surface until the        cylindrical shaft is gripped and deformed by the gripping        members; and    -   removing the deformed shaft from the from the material.

Various embodiments disclosed herein relate to an apparatus for grippinga cylindrical shaft, including a housing having an axis and an innersurface with multiple asymmetric cam surfaces, and a distal end havingan opening configured to receive the cylindrical shaft; a firstrotatable frame within the housing; and a second rotatable frame withinthe housing. At least two first cylindrical gripping members are held bythe first rotatable frame, so that each first cylindrical grippingmember contacts a first end of a corresponding asymmetric cam surface.At least two second cylindrical gripping members are held by the secondrotatable frame, where each second cylindrical gripping member contactsa second end of the corresponding asymmetric cam surface, opposite tothe first end. The first and second cylindrical gripping members areeach configured to grip the cylindrical shaft.

In various embodiments, the first and second rotatable frames areconfigured to rotate in opposite directions upon insertion of thecylindrical shaft into a space defined by the first and second grippingmembers, so that the first and second gripping members each rotatetoward a center of the corresponding asymmetric cam surface. Afterinsertion of the cylindrical shaft, the housing is configured to:

-   -   rotate in a first direction so as to cause the first gripping        members to move toward the second end of the corresponding        asymmetric cam surface, gripping the cylindrical shaft and        rotating the cylindrical shaft in the first direction; or    -   rotate in a second direction so as to cause the second gripping        members to move toward the first end of the corresponding        asymmetric cam surface, gripping the cylindrical shaft and        rotating the cylindrical shaft in the second direction.

BRIEF DESCRIPTION OF THE DRAWINGS

In order to better understand various exemplary embodiments, referenceis made to the accompanying drawings, wherein:

FIG. 1 illustrates a first embodiment of an apparatus for gripping acylindrical shaft;

FIG. 2 shows a cross section of the apparatus of FIG. 1;

FIGS. 3A and 3B shows exemplary cylindrical gripping members for use inthe apparatus of FIG. 1;

FIG. 4 shows a view of the assembly holding cylindrical gripping membersfor holding a cylindrical shaft with the apparatus of FIG. 1;

FIG. 5 shows a cross section view of the apparatus of FIG. 1, in theplane holding arrows 4 in FIG. 2;

FIG. 6 shows a cross section view of the apparatus of FIG. 1,illustrating movement of cylindrical gripping elements relative to theinner cam surface of the housing;

FIG. 7 illustrates an exploded view of an alternate embodiment of anapparatus for gripping a cylindrical shaft;

FIG. 8 illustrates a cross section view of a third embodiment of anapparatus for gripping a cylindrical shaft;

FIG. 8A illustrates an exploded view of the apparatus of FIG. 8;

FIG. 8B illustrates an exploded view of the interior parts of theapparatus of FIG. 8;

FIG. 9 shows a cross section view of the apparatus of FIG. 8, in theplane holding arrows 9 in FIG. 8, where separator 38 is not shown;

FIG. 10A shows a cross section view of the apparatus of FIG. 8, in theplane holding arrows 9 in FIG. 8, where separator 38 is shown; and

FIG. 10B shows a cross section view of the apparatus of FIG. 8, in theplane holding arrows 10B in FIG. 8.

DETAILED DESCRIPTION

Referring now to the drawings, in which like numerals refer to likecomponents or steps, there are disclosed broad aspects of variousexemplary embodiments.

Unless otherwise specified, application of the term “cylindrical” to anitem in this disclosure means that the item is symmetric, and has atleast one axis of rotation.

A first view of an apparatus 1 for gripping a cylindrical shaft, e.g., asurgical pin is shown in FIG. 1, although more detailed views arediscussed below. The apparatus includes a cylindrical housing 2, with ameans to rotate the housing 7 at a proximal end and a washer 8 at adistal end. In various embodiments, the means to rotate the housing 7includes a cylindrical shaft 4 connected to a hexagonal shaft 5, wherethe hexagonal shaft may have a tapered end. The hexagonal shaft 5 mayhave a groove 6. The hexagonal shaft is configured to fit into ahexagonal bore 50 of a handle 51. Retractable bearings 52 may be mountedin the handle 50, where the retractable bearings 52 are configured toengage the groove 6 on hexagonal shaft 5, preventing shaft 5 fromwithdrawing from bore 51.

The housing 2 has a cylindrical shell with optional windows 3therethrough, which may facilitate cleaning of the apparatus 1. Theproximal end of housing 2 includes a washer 8 held in place by a clip 9.A spacer 10 within housing 2 has a proximal ring 10 b, visible throughwindow 3, and a plurality of spacer arms 10 a, one of which is visiblethrough washer 8. The spacer arms extend from ring 10 b in a distaldirection, toward washer 8. A cylindrical gripping member is positionedbetween each pair of adjacent spacer arms 10 a. Each cylindricalgripping member may be a single member with an axis of symmetry, ormultiple members arranged so that they are coaxial and have a commonaxis of symmetry. In FIG. 1, each cylindrical gripping member features afirst spherical member 11 between two arms 10 a near washer 8, and asecond cylindrical member 12 adjacent to spacer ring 10 b.

FIG. 2 shows a cross section of the apparatus of FIG. 1. As shown inFIG. 2, spacer 10 has a spacer ring 10 b, which fits in a cylindricalopening 2 a in the distal end of the interior of housing 2. Withinspacer ring 10 b, there is a torsion spring 13, which has a free end 13a which extends through an opening 10 c in spacer ring 10 b. Betweeneach adjacent set of two spacer arms 10 a, there is at least onecylindrical gripping member, which may be made of a single member havingcylindrical symmetry. Alternatively, multiple cylindrical grippingmembers, each having an axis of symmetry which is parallel to an axis ofhousing 2, may be positioned between each adjacent set of two spacerarms 10 a. As shown in FIG. 2, each cylindrical gripping member mayinclude a spherical member 11 in combination with a cylindrical member12, where the spherical member 11 and the cylindrical member 12 have acommon diameter and may be generally coaxial with an axis B. Eachcylindrical member 12 may have at least one planar end, at least onedome-shaped end 12.1, at least one end with a tapered surface 12.2, or atapered surface 12.2 in combination with a dome-shaped outer end 12.3.As shown in FIG. 3A, a cylindrical member 12 may have a planar end 12.4and a hemispherical end 12.5. As shown in FIG. 3B, a cylindrical member12 may have a planar end 12.4 and a frustoconical end 12.6.

In various embodiments, each gripping member may be formed of a singlecylindrical member 12. Alternatively, each gripping member may be formedof two or more spherical members 11. The gripping members are retainedin position by arms 10 a on each side and washer 8 at the distal end ofthe housing 2. Washer 8 is retained in position by clip 9, which fitsinto a circumferential slot on an inner surface of housing 2. Thegripping members define a space which is configured to receive acylindrical shaft 100, which may be inserted through the opening inwasher 8.

In various embodiments of the method for removing a cylindrical shaft,the cylindrical shaft is a surgical pin, and the material in which theshaft is positioned is bone. The surgical pin may be a Schanz pin, aSchanz screw, or a Steinman pin. The surgical pin or screw may be usedfor external fixation. In some cases, the surgical pin may be a pin orscrew initially formed with gripping surfaces, e.g., flat surfaces, atan end configured to receive a driving tool. However, the portion of thepin with the gripping surfaces may have been removed after insertion inan external fixation device to allow for increased patient comfort.

FIG. 4 shows an assembly including spacer 10, a set of cylindricalgripping members, each formed from a spherical gripping member 11 and acylindrical gripping member 12, washer 8, and torsion spring 13. As seenin FIG. 4, end 13 b of spring 13 fits in slot 10 d of spacer 10,preventing movement of spring end 13 b relative to spacer 10. End 13 aof torsion spring 13 normally rests in notch 10 c in spacer 10. In theabsence of tension on the spring, end 13 a rests against wall 10 e ofnotch 10 c. Spring end 13 a may be rotated about an axis of spacer 10until spring end 13 a contacts wall 10 f of notch 10 c, thereby applyingtension to spring 13.

FIG. 5 is a view of the apparatus of FIG. 2, along the plane of arrows4. Housing 2 has an inner surface 14 with multiple lobes with a variableradius of curvature, each lobe providing an asymmetric curved camsurface. Each asymmetric cam surface includes a first surface 14 a witha larger radius of curvature, e.g., a shallow curvature, and a secondsurface 14 b with a smaller radius of curvature, e.g., a steepercurvature. The asymmetric cam surfaces are connected by a surface 14 c,which may be planar, or may have a slight curvature. Surface 14 c maycurve inwards toward an axis of housing 2. Surface 14 c may also curveoutwards, away from the axis of housing 2, with the proviso that theoutward curvature of surface 14 c must be less than the curvature ofeither surface 14 a or 14 b. Spacer 10 is positioned in housing 2, withthe spacer ring 10 b occupying a cylindrical opening 15 at the base ofthe interior of housing 2. A cylindrical gripping member, shown in FIG.4 as a spherical member 12, is positioned between each pair of arms 10 aon spacer member 10. At rest, each gripping member 11 rests against afirst surface 14 a of an asymmetric cam surface on inner surface 14 ofhousing 2. The gripping member 11 define a space 100 a which isconfigured to receive cylindrical shaft 100 as shown in FIG. 2. Wheneach gripping member 11 rests against a first surface 14 a of anasymmetric cam surface, space 100 a is generally too small to receiveshaft 100.

As seen in FIG. 6, a gripping member 11 (shown as a dotted circle forpurposes of clarity) initially rests against cam surface 14 a at pointL. Since the space 100 a defined by members 11 (shown in FIG. 4) is toosmall to receive cylindrical shaft 100, as shown in FIG. 2, shaft 100cannot be inserted into housing 2 while each gripping member rests atpoint L, where the distance from the axis of housing 2 to point L is x₁.However, upon insertion of shaft 100 along the axis of housing 2,gripping members 11 are free to revolve in the direction of arrow Drelative to the inner surface of housing 2, allowing spacer 10 andgripping members 11 to move in the direction of arrow B in the directionof point M, which is the boundary between first surface 14 a of theasymmetric cam surface and second surface 14 b of the asymmetric camsurface. Rotation of the gripping member 11 in the direction of arrow Bmay continue until gripping member 11 rests against the inner surface ofhousing 2 at or near point M. When each gripping member 11 rests atpoint M, the distance from the axis of housing 2 to point M is x₂, wherex₂>x₁ and is sufficiently large to allow cylindrical shaft 100 to enterspace 100 a defined by members 11 and be gripped by gripping members 11.In some embodiments where the sum of the radius of shaft 100 and thediameter of gripping member 11 is x₂, the gripping member 11 may come torest at point M upon insertion of shaft 100. If the sum of the radius ofshaft 100 and the diameter of gripping member 11 is between x₁ and x₂,the gripping member 11 may come to rest between points L and M uponinsertion of shaft 100.

As shown in FIG. 6, the free end 13 a of spring 13 (only 13 a shown inFIG. 5) is pressed against a surface of a lobe 16 in cylindrical opening15 occupied by spacer 12. Rotation of spacer 10 relative to housing 2 isprevented prior to insertion of a cylindrical shaft 100 by the wall oflobe 16, with spacer 10 being biased into a position where grippingmembers 11 each rest against an inner surface of housing 2 at a point L.As shaft 100 is inserted and spacer 10 rotates in the direction of arrowB, the tension on torsion spring 13 increases, with the free end 13 a oftorsion spring moving in the direction of arrow E out of lobe 16 as thespacer 10 rotates relative to lobe 16.

After insertion of cylindrical shaft 100, shaft 100 is tightly grippedby members 11. Rotation of housing 2 in the direction of arrow C causesgripping members 11 to move toward point L along the first surface 14 aof the asymmetric cam surface, opposite to arrow B. As the grippingmembers move in the direction of point L, the gripping members tightenon shaft 100, compressing the shaft. Rotation of housing 2 may proceeduntil each gripping member 11 returns to point L, or until the grippingmembers tighten on shaft 100 so that further rotation is not possible.Once each gripping member 11 rests at point L, or between points L andM, the space 100 a defined by members 11 is significantly smaller thanthe diameter of cylindrical shaft 100. Thus, when each gripping member11 rests at or near point L, the gripping members compress thecylindrical shaft 100.

After each gripping member 11 rests at or near point L, further rotationof housing 2 in the direction of arrow C tightens the grip of grippingmembers 11 on the cylindrical shaft 100, and also allows for rotation ofcylindrical shaft 100. Rotation of housing 2 in a direction opposite toarrow C loosens the grip of gripping members 11 on the cylindrical shaft100, allowing withdrawal of the cylindrical member 100. Alternaterotation of housing 2 allows for a ratcheting motion, involving:

-   -   a) rotation of the housing 2 and shaft 100 in the direction of        arrow C, tightening the grip of gripping members 11 on shaft 100        and allowing rotation of shaft 100;    -   b) rotation of the housing 2 and shaft 100 in the direction on        opposite to arrow C, loosening the grip of gripping members 11        on shaft 100; and    -   c) rotation of the housing 2 in the direction of arrow C,        re-tightening the grip of gripping members 11 on shaft 100 and        allowing further rotation of shaft 100.

Each cylindrical gripping member 11 or 12 may be made of a materialwhich is harder than the cylindrical shaft. In some embodiments, thecylindrical gripping members 11 or 12 may be made from a hard ceramicmaterial, such as silicon nitride, yttria-stabilized zirconium oxide,tungsten carbide, or silicon carbide. In some embodiments, grippingmembers may be made from metal, such as various steels, includingiron-nickel based steel alloys and iron-chromium-manganese steel alloysand nickel-chromium based Inconel alloys. The cylindrical shaft 100 maybe made from metal, e.g., titanium or stainless steel, which is softerthan the material in the gripping members, thereby allowing the grippingmembers to slightly compress the cylindrical shaft 100. For example,stainless steel gripping members may be used to compress a shaft 100,e.g., a surgical pin, made from the softer metal titanium. Also, Type440 stainless steel gripping members (Brinell Hardness: 269) may be usedto compress a shaft 100 made from type 316 surgical grade stainlesssteel (Brinell Hardness: 217).

FIG. 7 shows an exploded view of an alternative embodiment of theapparatus 1 of FIG. 2. The apparatus of FIG. 7 includes a housing 2 withan inner cam surface 14. The apparatus of FIG. 7 also includes a spacerwith a ring-shaped member 10 b and a plurality of spacer arms 10 a.Washer 9 fits against the upper ends of spacer arms 10 a. A torsionspring 13 is placed in ring-shaped member 10 b of spacer 10, so that afree end of spring 13 occupies a notch 10 c in ring shaped member 10 a.The apparatus of FIG. 7 differs from the apparatus of FIG. 2 in that agripping member including a pair of spherical members 11, each able torevolve about an axis B which is parallel to an axis of housing 1, ispositioned between each pair of adjacent spacer arms 10 a. In contrast,the apparatus of FIG. 2 includes gripping members including a singlespherical member 11 and a cylindrical member 12. In the apparatus ofFIG. 7, the spherical members 11 are constrained from lateral movement,relative to spacer 10, by the inner cam surface 14 of housing 2 and thespacer arms 10 a. The spherical members 11 are constrained fromlongitudinal movement along the axis of housing 2 by the upper surfaceof ring-shaped member 10 b on spacer 10 and the lower surface of washer8. Clip 9 fits above washer 8, with the edge of clip 9 fitting into aslot 9 a on the inner surface of housing 2 and holding washer 8 againstthe proximal end of housing 2. A handle or a means for attaching ahandle (not shown in FIG. 7) is secured to the distal end of housing 2.

FIGS. 8 and 8A show an alternative embodiment 21 of the apparatus forgripping a cylindrical shaft, e.g., a surgical pin or a drill bit. Inthe case of a threaded pin or a drill bit the apparatus 21 of FIG. 8 isadapted to rotate the shaft in a first direction for insertion into adesired material, e.g., bone, or in a second direction for removal ofthe shaft from the material. The apparatus 21 includes a cylindricalhousing 22 having an inner surface 34, with a means to rotate thehousing 22 at a proximal end of housing 22. In various embodiments, themeans to rotate the housing 22 includes a cylindrical shaft 24 connectedto a hexagonal shaft 25, where the hexagonal shaft may have a taperedend. The hexagonal shaft 25 may have a groove 26, and be configured tofit into a hexagonal bore of a handle. Retractable bearings in thehandle may engage the groove 26 on hexagonal shaft 25, preventing shaft25 from withdrawing from the handle.

The housing 22 has a cylindrical shell with optional windows 23therethrough, where windows 23 are shown in FIG. 8A. In FIG. 8, theproximal end of housing 22 includes a washer 28 held in place by a clip29, where clip 29 fits into a notch 29 a in housing 22.

The interior of housing 22 is divided into two chambers by a cup-shapedseparator 38, which has an outer surface 37 a which conforms to theinner surface 34 of the housing 22 and a cylindrical inner surface 37 b.An opening 38 a in the center of separator 38 is configured to receivethe cylindrical shaft. A first spacer 30 within housing 22 has aring-shaped member 30 b which rotatably fits into inner surface 37 b ofseparator 38. A plurality of spacer arms 30 a extend from ring-shapedmember 30 b in a distal direction, toward washer 28. A cylindricalgripping member, a spherical gripping member, or a combination thereofis positioned between each pair of adjacent spacer arms 30 a. In FIG. 8,each cylindrical gripping member includes a first spherical member 31 abetween two arms 30 a near washer 28, and a second cylindrical member 32adjacent to spacer ring 30 b.

A second spacer 35 within housing 22 has a ring-shaped member 35 b whichrotatably fits into a cylindrical opening 39 at a proximal end of theinterior of housing 22. A plurality of spacer arms 35 a extend fromring-shaped member 35 b in a distal direction, toward separator 38. Acylindrical or spherical gripping member is positioned between each pairof adjacent spacer arms 35 a. In FIG. 8, each cylindrical grippingmember includes a spherical member 31 b between each pair of adjacentarms 35 a near separator 38. If desired, the cylindrical grippingmembers between arms 35 a may be cylindrical members or a combination ofcylindrical and spherical members.

As shown in FIG. 8, a first torsion spring 33 is positioned betweenring-shaped member 30 b and separator 38, so that rotation of thering-shaped member 30 b in a first direction applies tension to torsionspring 33. A second torsion spring 36 is positioned between ring-shapedmember 35 b and cylindrical opening 39. Torsion springs 33 and 36 arecoiled in opposite directions, so that rotation of the ring-shapedmember 35 b in a second direction which is opposite to the firstdirection applies tension to torsion spring 36.

FIG. 8A is an exploded view of the apparatus of FIG. 8. As seen in FIG.8A, a first spherical gripping member 31 a and a cylindrical grippingmember 32 may fit into an opening between two spacer arms 30 a. Theinner surface of housing 22 constrains gripping members 31 a and 32 frommovement in a radial direction, relative to an axis of housing 2. Theupper surface of ring 30 b and the inner surface of washer 28 constraingripping members 31 a and 32 from movement in an axial direction.

In FIG. 8A, second spherical gripping members 31 b may fit into openingsbetween two spacer arms 35 a. The inner surface of housing 22 constrainsgripping members 31 b from movement in a radial direction, while theupper surface of ring 35 b and the lower surface of separator 38constrain gripping members 31 a and 32 from movement in an axialdirection.

FIG. 8B shows an exploded view of the apparatus of FIG. 8, where housing22 and separator 38 are not shown. As seen in FIG. 8B, a first sphericalgripping member 31 a and a cylindrical gripping member 32 may fit intoan opening between two spacer arms 30 a, and a second spherical grippingmembers 31 b may fit into openings between two spacer arms 35 a. Ring 30b of spacer 30 includes a first notch 30 c configured to receive an end33 a of torsion spring 33, where notch 30 c allows rotation of springend 33 a in a first direction, applying tension to torsion spring 33.Ring 30 b of spacer 30 also includes a second slot 30 d configured toreceive an end 33 b of spring 33, where slot 30 d prevents rotation ofspring end 33 b, preventing the release of tension generated by rotationof spring end 33 a.

Also, FIG. 8B shows ring 35 b of spacer 35 includes a first notch 35 cconfigured to receive an end 36 a of torsion spring 36, where notch 36 callows rotation of spring end 36 a in a second direction, applyingtension to torsion spring 36. Ring 35 b of spacer 35 also includes asecond slot 35 d configured to receive an end 36 b of spring 36, whereslot 35 d prevents rotation of spring end 36 b, preventing the releaseof tension generated by rotation of spring end 36 a. As seen in FIG. 8B,springs 33 and 36 are coiled in opposite directions, so that: rotationof spring end 33 a in the first direction applies tension to spring 33,while rotation of spring end 36 a in the second direction appliestension to spring 36, where the second direction is opposite to thefirst direction.

In various embodiments, each gripping member may be formed of a singlecylindrical member 32. Alternatively, each gripping member may be formedof two or more spherical members 31. The gripping members are retainedin position by arms 30 a on each side and washer 28 at the distal end ofthe housing 22. Washer 28 is retained in position by clip 29, which fitsinto a circumferential slot on an inner surface of housing 22. Thegripping members define a space which is configured to receive acylindrical shaft 100 as shown in FIG. 2, which may be inserted throughthe opening in washer 28.

FIG. 9 is a view of the apparatus of FIG. 8, in a plane occupied byarrows 9 in FIG. 8. For purposes of clarity, separator 38 is not shown,although a portion of the interior surface 37 b of separator 38 is shownwith a broken line. In FIG. 9, the inner surface 34 of housing 22includes a plurality of symmetric or slightly asymmetric curved cammingsurfaces 34 a, joined by generally planar surfaces 34 b. Spacer 30 ispositioned so that spacer arms 30 a hold each gripping member 31 a(gripping members 32, below members 31 a, are not shown in FIG. 9)against a first edge of a curved camming surface 34 a at point P1.Spacer 35 (shown in FIG. 9) is positioned so that spacer arms 35 a holdeach gripping member 31 b against a second edge of camming surface 34 aat point P2, opposite to the first edge of camming surface 34 a. Eachpair of upper gripping members 31 a are offset from a lower grippingmember 31 b by an angle α.

Gripping members 31 a and 31 b collectively define a space adapted toreceive a cylindrical shaft; however, when upper and lower grippingmembers 31 a and 31 b are offset by angle α, this space is smaller thanthe diameter of the shaft. As the cylindrical shaft passes sphericalgripping members 31 a, members 31 a rotate in the direction of arrow D,allowing members 31 a to roll along cam surface 34 a in the direction ofarrow F from point P1 toward point R. When members 31 a reach point R,members 31 a are spaced sufficiently far apart to allow the cylindricalshaft to pass therebetween. At this point, the housing may be furtherrotated in the direction of arrow F, causing the gripping members 31 ato rotate along cam surface 34 a in a direction opposite to arrow F,tightening the grip of gripping members 31 a on shaft 100. Where shaft100 is a Schanz pin, further rotation of the housing in direction Fresults in unscrewing the pin. Rotation of housing 22 in a directionopposite to arrow F loosens the grip of the gripping members 31 a on theshaft 100, allowing shaft 100 to be removed from housing 22.

After the cylindrical shaft passes spherical gripping members 31 a, theshaft contacts members 31 b. As the shaft passes members 31 b, members31 b rotate in the direction of arrow D1, allowing members 31 b to rollalong cam surface 34 a in the direction of arrow G from point P2 towardpoint R. When members 31 b reach point R, members 31 b are spacedsufficiently far apart to allow the cylindrical shaft to passtherebetween. At this point, the housing 22 may be further rotated inthe direction of arrow G, causing gripping members 31 b to rotate alongcam surface 34 a toward point P2, in a direction opposite to arrow G.This causes members 31 b to grip the cylindrical shaft and allowsrotation of the shaft in direction G. Thus, the apparatus of FIG. 8allows for rotation of a cylindrical shaft in either of two oppositedirections with a single tool, and may thus be used for either insertionor removal of a threaded shaft, e.g., a Schanz pin or drill bit.

The above discussion suggests that, upon insertion of shaft 100, members31 a and 31 b each contact point R on cam surface 34 a, so that anoffset angle α between upper and lower gripping members 31 a and 31 b iszero, i.e., members 31 a and 31 b are essentially coaxial. This isdependent on the sum of the diameter of gripping members 31 a and 31 band the radius of shaft 100 being equal to a distance between an axis ofhousing 22 and the inner surface of housing 22 at point R (x₃ in FIG.9). The sum of the diameter of the gripping members and the radius ofshaft 100 may be less than x₃ but greater than a distance between anaxis of housing 22 and the inner surface of housing 22 at their initialposition P1 or P2. In such cases, upon insertion of shaft 100, members31 a and 31 b may come to rest on cam surface 34 a at a point betweentheir initial position and point R, with a nonzero offset angle.

As mentioned above, a portion of the interior surface 37 b of separator38 in is shown with a broken line in the apparatus of FIG. 9. The freeend 33 a of spring 33 is pressed against a surface of a notch 37 c inthe cylindrical opening 37 b in separator 38. Rotation of spacer 30relative to housing 22 is prevented prior to insertion of a cylindricalshaft by contact between the wall of notch 37 c and spring end 33 a.This biases spacer 30 into a position where gripping members 31 a eachrest against an inner surface of housing 22 at a point P1. As shaft 100,as shown in FIG. 2, is inserted and spacer 30 rotates in the directionof arrow F, the tension on torsion spring 33 increases, with the freeend 33 a of torsion spring moving out of notch 37 c as the spacer 30rotates.

Also as shown in FIG. 9, the free end 36 a of spring 36 is pressedagainst a surface of a lobe 39 b in cylindrical opening 39, occupied bythe second spacer 35 (shown in FIG. 8). Rotation of spacer 35, andgripping members 31 b carried by spacer 35, relative to housing 22 isprevented by contact between spring end 36 a and the wall of lobe 39 b.Spacer 35 is biased into a position where gripping members 31 b eachrest against an inner surface of housing 22 at a point P2. As shaft 100is inserted past gripping members 31 b, spacer 35 rotates in thedirection of arrow G. Rotation of spacer 35 causes the tension ontorsion spring 36 to increase, with the free end 36 a of torsion spring36 moving out of lobe 39 b as the spacer 35 rotates. As seen in FIG. 8,torsion springs 33 and 36 are wound in opposite directions. As seen inFIG. 9, torsion springs 33 and 36 cause the spacers 30 and 35 to rotatein opposite directions as the cylindrical shaft moves axially past 31 aand 31 b.

FIG. 10A shows another view of the apparatus of FIG. 8, in a planeoccupied by arrows 9 in FIG. 8, where separator 30 is shown. The outeredge of the separator 38 conforms to the inner surface 34 of housing 22.A cylindrical opening 37 rotatably receives spacer 30. A torsion spring33, shown in FIG. 8, is positioned within spacer 30. The torsion spring33 has a free end 33 a, which is received in a notch 37 a in separator38 and biases the spacer into an orientation where gripping members 31 aare each held against a first position at a first edge of cam surface 34in housing 22. As the cylindrical member is pushed past gripping members31 a, members 31 a rotate along cam surfaces 34 a in the direction ofarrow F, allowing members 31 a to move away from an axis of housing 22and grip the cylindrical shaft. As members 31 a rotate, spring end 33 amoves out of notch 37 a, applying tension to spring 33.

FIG. 10B shows a view of the apparatus of FIG. 8, in a plane occupied byarrows 10B in FIG. 8. A cylindrical opening 39 at the proximal end ofthe housing 22 rotatably receives spacer 35. A torsion spring 36, shownin FIG. 8, is positioned within spacer 35. The torsion spring 36 has afree end 36 a, which is received in a lobe 39 b in cylindrical opening39 and biases the spacer 35 into an orientation where gripping members31 b are each held against a second position at a second edge of camsurface 34 in housing 22, where the first and second edges of camsurface 34 are opposite each other. As the cylindrical member is pushedpast gripping members 31 b, members 31 b rotate along cam surfaces 34 ain the direction of arrow G, allowing members 31 a to move away from anaxis of housing 22 and grip the cylindrical shaft. As members 31 arotate, spring end 36 a moves out of lobe 39 b, applying tension tospring 36.

Although the various exemplary embodiments have been described in detailwith particular reference to certain exemplary aspects thereof, itshould be understood that the invention is capable of other embodimentsand its details are capable of modifications in various obviousrespects. As is readily apparent to those skilled in the art, variationsand modifications can be affected while remaining within the spirit andscope of the invention. Accordingly, the foregoing disclosure,description, and figures are for illustrative purposes only and do notin any way limit the invention, which is defined only by the claims.

What is claimed is:
 1. An apparatus for gripping a cylindrical shaft,comprising: a housing having an axis and an inner surface with multipleasymmetric cam surfaces, a proximal end comprising a means to rotate thehousing, and a distal end having an opening configured to receive thecylindrical shaft, at least two first gripping members configured toapply a deforming force to the cylindrical shaft, where each firstgripping member comprises: a spherical gripping member contacting acorresponding one of the asymmetric cam surfaces at a first restposition, and a coaxial gripping member, the coaxial gripping memberbeing coaxial with the spherical gripping member; and a first rotatableframe which holds each pair of the first gripping members at a fixedangular orientation relative to each other, wherein: the first rotatableframe is biased into a first position relative to the housing where eachsaid spherical gripping member and each said coaxial gripping membercontact the corresponding one of the asymmetric cam surfaces at thefirst rest position; the first rotatable frame is configured to rotatein a first direction relative to the housing upon insertion of thecylindrical shaft into a space defined by the spherical gripping membersso that each said first gripping member moves away from the axis of thehousing along the first portion of the corresponding one of theasymmetric cam surfaces; and after insertion of the cylindrical shaft,the first rotatable frame is configured to rotate in a second directionrelative to the housing so as to cause each said spherical grippingmember to apply the deforming force by moving toward the axis of thehousing along a second portion of the corresponding one of theasymmetric cam surfaces; the apparatus further comprising a secondrotatable frame; and at least two second cylindrical gripping membersheld by the second rotatable frame, the second cylindrical grippingmembers being configured to grip the cylindrical shaft, where eachsecond cylindrical gripping member contacts a corresponding one of theasymmetric cam surfaces at a second rest position.
 2. An apparatus forgripping a cylindrical shaft, comprising: a housing having an axis andan inner surface with multiple asymmetric cam surfaces, and a distal endhaving an opening configured to receive the cylindrical shaft, a firstrotatable frame; at least two first cylindrically symmetric grippingmembers held by the first rotatable frame, the first cylindricalgripping members being configured to grip the cylindrical shaft, whereeach first cylindrically symmetric gripping member contacts a first endof a corresponding asymmetric cam surface, a second rotatable frameaxially spaced from the first rotatable frame; and at least two secondcylindrically symmetric gripping members held by the second rotatableframe, the first cylindrical gripping members being configured to gripthe cylindrical shaft, where each second cylindrically symmetricgripping member contacts a second end of the corresponding asymmetriccam surface, wherein: the first and second rotatable frames areconfigured to rotate upon insertion of the cylindrical shaft into aspace defined by the first cylindrically symmetric gripping members andthe second cylindrically symmetric gripping members so that the firstcylindrically symmetric gripping members and the second cylindricallysymmetric gripping members rotate in opposite directions along thecorresponding asymmetric cam surface; and after insertion of thecylindrical shaft, the housing is configured to: rotate in a firstdirection so as to cause the first cylindrically symmetric grippingmembers to move toward the second end of the corresponding asymmetriccam surface, gripping the cylindrical shaft and rotating the cylindricalshaft in the first direction; or rotate in a second direction so as tocause the second cylindrically symmetric gripping members to move towardthe first end of the corresponding asymmetric cam surface, gripping thecylindrical shaft and rotating the cylindrical shaft in the seconddirection.
 3. The apparatus of claim 2, wherein the first rotatableframe is biased into a first position by a first torsion spring withinthe first rotatable frame, wherein the torsion spring engages thehousing; and rotation of the first rotatable frame relative to thehousing disengages the torsion spring from the housing.
 4. The apparatusof claim 3, wherein the second rotatable frame is biased into a secondposition by a second torsion spring within the second rotatable frame,wherein the second torsion spring engages the housing; and rotation ofthe second rotatable frame relative to the housing disengages the secondtorsion spring from the housing.
 5. The apparatus of claim 2, whereineach said first cylindrically symmetric gripping member is independentlyselected from the group consisting of a spherical gripping member, aright cylindrical gripping member having planar ends, and a cylindricalgripping member having non-planar ends.
 6. The apparatus of claim 2,wherein each said second cylindrically symmetric gripping member isindependently selected from the group consisting of a spherical grippingmember, a right cylindrical gripping member having planar ends, and acylindrical gripping member having non-planar ends.
 7. The apparatus ofclaim 2, wherein each said first cylindrically symmetric gripping membercomprises two coaxial gripping members.
 8. The apparatus of claim 2,wherein each said second cylindrically symmetric gripping membercomprises two coaxial gripping members.
 9. The apparatus of claim 2,wherein each said first cylindrically symmetric gripping member and eachsaid second cylindrically symmetric gripping member is made of amaterial which is harder than the cylindrical shaft, where the materialis selected from the group consisting of silicon nitride, zirconiumoxide, silicon carbide, and stainless steel.
 10. The apparatus of claim2, wherein: each pair of adjacent ones of the asymmetric cam surfaces isconnected by a substantially planar surface, a first portion of each ofthe asymmetric cam surfaces has a first curvature, and a second portionof each of the asymmetric cam surfaces has a second curvature which isgreater than the first curvature.
 11. The apparatus of claim 2, wherein:a proximal end of the housing comprises a means to rotate the housing,and the means to rotate the housing comprises a handle.
 12. Theapparatus of claim 2, wherein: a proximal end of the housing comprises ameans to rotate the housing, and the means to rotate the housingcomprises a shaft having a first planar surface, the shaft beingconfigured to engage a handle with a bore having a corresponding secondplanar surface, the shaft having a groove therein, the groove beingconfigured to engage a ball bearing mounted in the bore.
 13. Theapparatus of claim 2, wherein: a proximal end of the housing comprises ameans to rotate the housing, and the means to rotate the housingcomprises a hexagonal shaft configured to engage a handle with ahexagonal bore, the hexagonal shaft having a groove therein, the groovebeing configured to engage a ball bearing mounted in the hexagonal bore.14. A method for driving a cylindrical shaft within a material using theapparatus of claim 2, comprising: inserting the cylindrical shaftthrough the opening at the distal end of the housing into the spacedefined by the first cylindrically symmetric gripping members and thesecond cylindrically symmetric gripping members; and after inserting thecylindrical shaft, either: rotating the housing in the first directionso as to drive the cylindrical shaft into the material; or rotating thehousing in the second direction so as to withdraw the cylindrical shaftfrom the material.
 15. The method of claim 14, wherein the cylindricalshaft is a surgical pin, and the material is a bone.
 16. A method fordriving a cylindrical shaft within a material using the apparatus ofclaim 2, comprising: inserting the cylindrical shaft into the opening atthe distal end of the housing; pushing the cylindrical shaft into thespace defined by the first cylindrically symmetric gripping members andthe second cylindrically symmetric gripping members; and after insertingthe cylindrical shaft, either: rotating the housing in a first directionso as to cause the first cylindrically symmetric gripping members tomove toward the second end of the corresponding asymmetric cam surface,thereby gripping the cylindrical shaft and rotating the cylindricalshaft in the first direction; or rotating the housing in a seconddirection so as to cause the second cylindrically symmetric grippingmembers to move toward the first end of the corresponding asymmetric camsurface, thereby gripping the cylindrical shaft and rotating thecylindrical shaft in the second direction.
 17. The method of claim 16,wherein the cylindrical shaft is a surgical pin, and the material is abone.
 18. The method of claim 17, wherein rotating the housing in thefirst direction drives the surgical pin into the bone, and rotating thehousing in the first direction withdraws the surgical pin from the bone.